OpenRaiser/Intern-Atlas huggingface dataset:
Effect of Adaptive Communication Support on LLM-powered Human-Robot Collaboration
Venue: arXiv cs.HC 2025
Year: 2025

Effective human-robot collaboration requires robot to adopt their roles and levels of support based on human needs, task requirements, and complexity. Traditional human-robot teaming often relies on a pre-determined robot communication scheme, restricting teamwork adaptability in complex tasks. Leveraging strong communication capabilities of Large Language Models (LLMs), we propose a Human-Robot Teaming Framework with Multi-Modal Language feedback (HRT-ML), a framework designed to enhance human-robot interaction by adjusting the frequency and content of language-based feedback. HRT-ML framework includes two core modules: a Coordinator for high-level, low-frequency strategic guidance, and a Manager for subtask-specific, high-frequency instructions, enabling passive and active interactions with human teammates. To assess the impact of language feedback in collaborative scenarios, we conducted experiments in an enhanced Overcooked environment with varying levels of task complexity (easy, medium, hard) and feedback frequency (inactive, passive, active, superactive). Our results show that as task complexity increases relative to human capabilities, human teammates exhibited a stronger preference towards robotic agents that can offer frequent, proactive support. However, when task complexities exceed the LLM's capacity, noisy and inaccurate feedback from superactive robotic agents can instead hinder team performance, as it requires human teammates to increase their effort to interpret and respond to a large number of communications, with limited performance return. Our results offer a general principle for robotic agents to dynamically adjust their levels and frequencies of communications to work seamlessly with humans and achieve improved teaming performance.
A Physics-Constrained Neural Differential Equation Framework for Data-Driven Snowpack Simulation
Venue: arXiv cs.LG 2025
Year: 2025

This paper presents a physics-constrained neural differential equation framework for parameterization, and employs it to model the time evolution of seasonal snow depth given hydrometeorological forcings. When trained on data from multiple SNOTEL sites, the parameterization predicts daily snow depth with under 9% median error and Nash Sutcliffe Efficiencies over 0.94 across a wide variety of snow climates. The parameterization also generalizes to new sites not seen during training, which is not often true for calibrated snow models. Requiring the parameterization to predict snow water equivalent in addition to snow depth only increases error to ~12%. The structure of the approach guarantees the satisfaction of physical constraints, enables these constraints during model training, and allows modeling at different temporal resolutions without additional retraining of the parameterization. These benefits hold potential in climate modeling, and could extend to other dynamical systems with physical constraints.
Tube Loss: A Novel Approach for Prediction Interval Estimation and probabilistic forecasting
Venue: arXiv cs.LG 2025
Year: 2025

This paper proposes a novel loss function, called 'Tube Loss', for simultaneous estimation of bounds of a Prediction Interval (PI) in the regression setup. The PIs obtained by minimizing the empirical risk based on the Tube Loss are shown to be of better quality than the PIs obtained by the existing methods in the following sense. First, it yields intervals that attain the prespecified confidence level t $\in$ (0,1) asymptotically. A theoretical proof of this fact is given. Secondly, the user is allowed to move the interval up or down by controlling the value of a parameter. This helps the user to choose a PI capturing denser regions of the probability distribution of the response variable inside the interval, and thus, sharpening its width. This is shown to be especially useful when the conditional distribution of the response variable is skewed. Further, the Tube Loss based PI estimation method can trade-off between the coverage and the average width by solving a single optimization problem. It enables further reduction of the average width of PI through re-calibration. Also, unlike a few existing PI estimation methods the gradient descent (GD) method can be used for minimization of empirical risk. Through extensive experiments, we demonstrate the effectiveness of Tube Loss-based PI estimation in both kernel machines and neural networks. Additionally, we show that Tube Loss-based deep probabilistic forecasting models achieve superior performance compared to existing probabilistic forecasting techniques across several benchmark and wind datasets. Finally, we empirically validate the advantages of the Tube loss approach within the conformal prediction framework. Codes are available at https://github.com/ltpritamanand/Tube$\_$loss.
PyraNet: A Multi-Layered Hierarchical Dataset for Verilog
Venue: arXiv cs.AR 2025
Year: 2025

Recently, there has been a growing interest in leveraging Large Language Models for Verilog code generation. However, the current quality of the generated Verilog code remains suboptimal. This is largely due to the absence of well-defined, well-organized datasets with high-quality samples, as well as a lack of innovative fine-tuning methods and models specifically trained on Verilog. In this paper, we introduce a novel open-source dataset and a corresponding fine-tuning technique, which utilizes a multi-layered structure that we refer to as PyraNet. Our experiments demonstrate that employing the proposed dataset and fine-tuning approach leads to a more accurate fine-tuned model, producing syntactically and functionally correct Verilog code. The evaluation results show improvements by up-to $32.6\%$ in comparison to the CodeLlama-7B baseline model and up-to $16.7\%$ in comparison to the state-of-the-art models using VerilogEval evaluation platform.
Bridging Conversational and Collaborative Signals for Conversational Recommendation
Venue: arXiv cs.IR 2025
Year: 2025

Conversational recommendation systems (CRS) leverage contextual information from conversations to generate recommendations but often struggle due to a lack of collaborative filtering (CF) signals, which capture user-item interaction patterns essential for accurate recommendations. We introduce Reddit-ML32M, a dataset that links Reddit conversations with interactions on MovieLens 32M, to enrich item representations by leveraging collaborative knowledge and addressing interaction sparsity in conversational datasets. We propose an LLM-based framework that uses Reddit-ML32M to align LLM-generated recommendations with CF embeddings, refining rankings for better performance. We evaluate our framework against three sets of baselines: CF-based recommenders using only interactions from CRS tasks, traditional CRS models, and LLM-based methods relying on conversational context without item representations. Our approach achieves consistent improvements, including a 12.32% increase in Hit Rate and a 9.9% improvement in NDCG, outperforming the best-performing baseline that relies on conversational context but lacks collaborative item representations.
Massively Parallel Algorithms for Approximate Shortest Paths
Venue: arXiv cs.DS 2025
Year: 2025

We present fast algorithms for approximate shortest paths in the massively parallel computation (MPC) model. We provide randomized algorithms that take $poly(\log{\log{n}})$ rounds in the near-linear memory MPC model. Our results are for unweighted undirected graphs with $n$ vertices and $m$ edges. Our first contribution is a $(1+ε)$-approximation algorithm for Single-Source Shortest Paths (SSSP) that takes $poly(\log{\log{n}})$ rounds in the near-linear MPC model, where the memory per machine is $\tilde{O}(n)$ and the total memory is $\tilde{O}(mn^ρ)$, where $ρ$ is a small constant. Our second contribution is a distance oracle that allows to approximate the distance between any pair of vertices. The distance oracle is constructed in $poly(\log{\log{n}})$ rounds and allows to query a $(1+ε)(2k-1)$-approximate distance between any pair of vertices $u$ and $v$ in $O(1)$ additional rounds. The algorithm is for the near-linear memory MPC model with total memory of size $\tilde{O}((m+n^{1+ρ})n^{1/k})$, where $ρ$ is a small constant. While our algorithms are for the near-linear MPC model, in fact they only use one machine with $\tilde{O}(n)$ memory, where the rest of machines can have sublinear memory of size $O(n^γ)$ for a small constant $γ< 1$. All previous algorithms for approximate shortest paths in the near-linear MPC model either required $Ω(\log{n})$ rounds or had an $Ω(\log{n})$ approximation. Our approach is based on fast construction of near-additive emulators, limited-scale hopsets and limited-scale distance sketches that are tailored for the MPC model. While our end-results are for the near-linear MPC model, many of the tools we construct such as hopsets and emulators are constructed in the more restricted sublinear MPC model.
A Method for Evaluating Hyperparameter Sensitivity in Reinforcement Learning
Venue: arXiv cs.LG 2025
Year: 2025

The performance of modern reinforcement learning algorithms critically relies on tuning ever-increasing numbers of hyperparameters. Often, small changes in a hyperparameter can lead to drastic changes in performance, and different environments require very different hyperparameter settings to achieve state-of-the-art performance reported in the literature. We currently lack a scalable and widely accepted approach to characterizing these complex interactions. This work proposes a new empirical methodology for studying, comparing, and quantifying the sensitivity of an algorithm's performance to hyperparameter tuning for a given set of environments. We then demonstrate the utility of this methodology by assessing the hyperparameter sensitivity of several commonly used normalization variants of PPO. The results suggest that several algorithmic performance improvements may, in fact, be a result of an increased reliance on hyperparameter tuning.
CrackESS: A Self-Prompting Crack Segmentation System for Edge Devices
Venue: arXiv cs.CV 2025
Year: 2025

Structural Health Monitoring (SHM) is a sustainable and essential approach for infrastructure maintenance, enabling the early detection of structural defects. Leveraging computer vision (CV) methods for automated infrastructure monitoring can significantly enhance monitoring efficiency and precision. However, these methods often face challenges in efficiency and accuracy, particularly in complex environments. Recent CNN-based and SAM-based approaches have demonstrated excellent performance in crack segmentation, but their high computational demands limit their applicability on edge devices. This paper introduces CrackESS, a novel system for detecting and segmenting concrete cracks. The approach first utilizes a YOLOv8 model for self-prompting and a LoRA-based fine-tuned SAM model for crack segmentation, followed by refining the segmentation masks through the proposed Crack Mask Refinement Module (CMRM). We conduct experiments on three datasets(Khanhha's dataset, Crack500, CrackCR) and validate CrackESS on a climbing robot system to demonstrate the advantage and effectiveness of our approach.
DFREC: DeepFake Identity Recovery Based on Identity-aware Masked Autoencoder
Venue: arXiv cs.CV 2025
Year: 2025

Recent advances in deepfake forensics have primarily focused on improving the classification accuracy and generalization performance. Despite enormous progress in detection accuracy across a wide variety of forgery algorithms, existing algorithms lack intuitive interpretability and identity traceability to help with forensic investigation. In this paper, we introduce a novel DeepFake Identity Recovery scheme (DFREC) to fill this gap. DFREC aims to recover the pair of source and target faces from a deepfake image to facilitate deepfake identity tracing and reduce the risk of deepfake attack. It comprises three key components: an Identity Segmentation Module (ISM), a Source Identity Reconstruction Module (SIRM), and a Target Identity Reconstruction Module (TIRM). The ISM segments the input face into distinct source and target face information, and the SIRM reconstructs the source face and extracts latent target identity features with the segmented source information. The background context and latent target identity features are synergetically fused by a Masked Autoencoder in the TIRM to reconstruct the target face. We evaluate DFREC on six different high-fidelity face-swapping attacks on FaceForensics++, CelebaMegaFS and FFHQ-E4S datasets, which demonstrate its superior recovery performance over state-of-the-art deepfake recovery algorithms. In addition, DFREC is the only scheme that can recover both pristine source and target faces directly from the forgery image with high fadelity.
NeSyA: Neurosymbolic Automata
Venue: arXiv cs.AI 2025
Year: 2025

Neurosymbolic (NeSy) AI has emerged as a promising direction to integrate neural and symbolic reasoning. Unfortunately, little effort has been given to developing NeSy systems tailored to sequential/temporal problems. We identify symbolic automata (which combine the power of automata for temporal reasoning with that of propositional logic for static reasoning) as a suitable formalism for expressing knowledge in temporal domains. Focusing on the task of sequence classification and tagging we show that symbolic automata can be integrated with neural-based perception, under probabilistic semantics towards an end-to-end differentiable model. Our proposed hybrid model, termed NeSyA (Neuro Symbolic Automata) is shown to either scale or perform more accurately than previous NeSy systems in a synthetic benchmark and to provide benefits in terms of generalization compared to purely neural systems in a real-world event recognition task.
Towards Graph Foundation Models: A Study on the Generalization of Positional and Structural Encodings
Venue: arXiv cs.LG 2025
Year: 2025

Recent advances in integrating positional and structural encodings (PSEs) into graph neural networks (GNNs) have significantly enhanced their performance across various graph learning tasks. However, the general applicability of these encodings and their potential to serve as foundational representations for graphs remain uncertain. This paper investigates the fine-tuning efficiency, scalability with sample size, and generalization capability of learnable PSEs across diverse graph datasets. Specifically, we evaluate their potential as universal pre-trained models that can be easily adapted to new tasks with minimal fine-tuning and limited data. Furthermore, we assess the expressivity of the learned representations, particularly, when used to augment downstream GNNs. We demonstrate through extensive benchmarking and empirical analysis that PSEs generally enhance downstream models. However, some datasets may require specific PSE-augmentations to achieve optimal performance. Nevertheless, our findings highlight their significant potential to become integral components of future graph foundation models. We provide new insights into the strengths and limitations of PSEs, contributing to the broader discourse on foundation models in graph learning.
Goal-Oriented Medium Access with Distributed Belief Processing
Venue: arXiv cs.NI 2025
Year: 2025

Goal-oriented communication entails the timely transmission of updates related to a specific goal defined by the application. In a distributed setup with multiple sensors, each individual sensor knows its own observation and can determine its freshness, as measured by Age of Incorrect Information (AoII). This local knowledge is suited for distributed medium access, where the transmission strategies have to deal with collisions. We present Dynamic Epistemic Logic for Tracking Anomalies (DELTA), a medium access protocol that limits collisions and minimizes AoII in anomaly reporting over dense networks. Each sensor knows its own AoII, while it can compute the belief about the AoII for all other sensors, based on their Age of Information (AoI), which is inferred from the acknowledgments. This results in a goal-oriented approach based on dynamic epistemic logic emerging from public information. We analyze the resulting DELTA protocol both from a theoretical standpoint and with Monte Carlo simulations, showing that it is significantly more efficient and robust than classical random access, while outperforming state-of-the-art scheduled schemes by at least 30%, even with imperfect feedback.
Output-Sensitive Evaluation of Regular Path Queries
Venue: arXiv cs.DB 2025
Year: 2025

We study the classical evaluation problem for regular path queries: Given an edge-labeled graph and a regular path query, compute the set of pairs of vertices that are connected by paths that match the query. The Product Graph (PG) is the established evaluation approach for regular path queries. PG first constructs the product automaton of the data graph and the query and then uses breadth-first search to find the accepting states reachable from each initial state in the product automaton. Its data complexity is O(|V|.|E|), where V and E are the sets of vertices and respectively edges in the data graph. This complexity cannot be improved by combinatorial algorithms. In this paper, we introduce OSPG, an output-sensitive refinement of PG, whose data complexity is O(|E|^{3/2} + \min(OUT.\sqrt{|E|}, |V|.|E|)), where OUT is the number of distinct vertex pairs in the query output. OSPG's complexity is at most that of PG and can be asymptotically smaller for small output and sparse input. The improvement of OSPG over PG is due to the unnecessary time wasted by PG in the breadth-first search phase, in case a few output pairs are eventually discovered. For queries without Kleene star, the complexity of OSPG can be further improved to O(|E| + |E|.\sqrt{OUT}).
A large language model-based approach to quantifying the effects of social determinants in liver transplant decisions
Venue: arXiv cs.CY 2025
Year: 2025

Patient life circumstances, including social determinants of health (SDOH), shape both health outcomes and care access, contributing to persistent disparities across gender, race, and socioeconomic status. Liver transplantation exemplifies these challenges, requiring complex eligibility and allocation decisions where SDOH directly influence patient evaluation. We developed an artificial intelligence (AI)-driven framework to analyze how broadly defined SDOH -- encompassing both traditional social determinants and transplantation-related psychosocial factors -- influence patient care trajectories. Using large language models, we extracted 23 SDOH factors related to patient eligibility for liver transplantation from psychosocial evaluation notes. These SDOH ``snapshots'' significantly improve prediction of patient progression through transplantation evaluation stages and help explain liver transplantation decisions including the recommendation based on psychosocial evaluation and the listing of a patient for a liver transplantation. Our analysis helps identify patterns of SDOH prevalence across demographics that help explain racial disparities in liver transplantation decisions. We highlight specific unmet patient needs, which, if addressed, could improve the equity and efficacy of transplant care. While developed for liver transplantation, this systematic approach to analyzing previously unstructured information about patient circumstances and clinical decision-making could inform understanding of care decisions and disparities across various medical domains.
Quantifying the benefits of code hints for refactoring deprecated Java APIs
Venue: arXiv cs.SE 2025
Year: 2025

When done manually, refactoring legacy code in order to eliminate uses of deprecated APIs is an error-prone and time-consuming process. In this paper, we investigate to which degree refactorings for deprecated Java APIs can be automated, and quantify the benefit of Javadoc code hints for this task. To this end, we build a symbolic and a neural engine for the automatic refactoring of deprecated APIs. The former is based on type-directed and component-based program synthesis, whereas the latter uses LLMs. We applied our engines to refactor the deprecated methods in the Oracle JDK 15. Our experiments show that code hints are enabling for the automation of this task: even the worst engine correctly refactors 71% of the tasks with code hints, which drops to at best 14% on tasks without. Adding more code hints to Javadoc can hence boost the refactoring of code that uses deprecated APIs.
Evil twins are not that evil: Qualitative insights into machine-generated prompts
Venue: arXiv cs.CL 2025
Year: 2025

It has been widely observed that language models (LMs) respond in predictable ways to algorithmically generated prompts that are seemingly unintelligible. This is both a sign that we lack a full understanding of how LMs work, and a practical challenge, because opaqueness can be exploited for harmful uses of LMs, such as jailbreaking. We present the first thorough analysis of opaque machine-generated prompts, or autoprompts, pertaining to 6 LMs of different sizes and families. We find that machine-generated prompts are characterized by a last token that is often intelligible and strongly affects the generation. A small but consistent proportion of the previous tokens are prunable, probably appearing in the prompt as a by-product of the fact that the optimization process fixes the number of tokens. The remaining tokens fall into two categories: filler tokens, which can be replaced with semantically unrelated substitutes, and keywords, that tend to have at least a loose semantic relation with the generation, although they do not engage in well-formed syntactic relations with it. Additionally, human experts can reliably identify the most influential tokens in an autoprompt a posteriori, suggesting these prompts are not entirely opaque. Finally, some of the ablations we applied to autoprompts yield similar effects in natural language inputs, suggesting that autoprompts emerge naturally from the way LMs process linguistic inputs in general.
Analyzing and Mitigating Model Collapse in Rectified Flow Models
Venue: arXiv cs.CV 2025
Year: 2025

Training with synthetic data is becoming increasingly inevitable as synthetic content proliferates across the web, driven by the remarkable performance of recent deep generative models. This reliance on synthetic data can also be intentional, as seen in Rectified Flow models, whose Reflow method iteratively uses self-generated data to straighten the flow and improve sampling efficiency. However, recent studies have shown that repeatedly training on self-generated samples can lead to model collapse (MC), where performance degrades over time. Despite this, most recent work on MC either focuses on empirical observations or analyzes regression problems and maximum likelihood objectives, leaving a rigorous theoretical analysis of reflow methods unexplored. In this paper, we aim to fill this gap by providing both theoretical analysis and practical solutions for addressing MC in diffusion/flow models. We begin by studying Denoising Autoencoders and prove performance degradation when DAEs are iteratively trained on their own outputs. To the best of our knowledge, we are the first to rigorously analyze model collapse in DAEs and, by extension, in diffusion models and Rectified Flow. Our analysis and experiments demonstrate that rectified flow also suffers from MC, leading to potential performance degradation in each reflow step. Additionally, we prove that incorporating real data can prevent MC during recursive DAE training, supporting the recent trend of using real data as an effective approach for mitigating MC. Building on these insights, we propose a novel Real-data Augmented Reflow and a series of improved variants, which seamlessly integrate real data into Reflow training by leveraging reverse flow. Empirical evaluations on standard image benchmarks confirm that RA Reflow effectively mitigates model collapse, preserving high-quality sample generation even with fewer sampling steps.